写在前面：自知水平有限，文章中可能有错误,欢迎各位留言指正

一、程序思路

二、例程

#include <iostream>
#include <Windows.h>
#include <opencv.hpp>
#include <Kinect.h>

using namespace std;
using namespace cv;

int main(int argc, char* argv[])
{
	namedWindow("Color", 0);
	IKinectSensor *sensor = nullptr;//创建KinectSensor空指针
	IColorFrameSource *source = nullptr;
	IColorFrameReader *reader = nullptr;
	IColorFrame *frame = nullptr;
	IFrameDescription *description = nullptr;

	int height = 0, width = 0;
	unsigned int bytesPerPixel = 0;
	HRESULT result;
	
	result = GetDefaultKinectSensor( &sensor );//获取默认Kinect Device
	if (SUCCEEDED(result))//判断是否正确获取Kinect
	{
		cout << "Found Kinect Device" << endl;
	}
	else
	{
		return result;
	}

	result = sensor->Open();//打开Kinect
	Sleep(500);//等待500ms，保证Kinect正确打开
	if (SUCCEEDED(result))
	{
		cout << "Success to open Kinect" << endl;
	}
	else
	{
		return result;
	}
	result = sensor->get_ColorFrameSource(&source);//获取ColorFrameSource
	if (SUCCEEDED(result))
	{
		cout << "Get Color Source" << endl;
	}
	else
	{
		return result;
	}

	source->get_FrameDescription(&description);//获取帧格式描述
	description->get_Height(&height);//帧高度
	description->get_Width(&width);//帧宽度
	description->get_BytesPerPixel(&bytesPerPixel);//每一像素的大小，单位Byte
	cout << height << endl << width << endl<< bytesPerPixel << endl;
	//Sleep(15000);
	//return -1;
	result = source->OpenReader(&reader);//获取彩色图像Reader
	if (SUCCEEDED(result))
	{
		cout << "Get Color Reader" << endl;
	}
	else
	{
		return result;
	}

	Mat colorImage(height, width, CV_8UC4);//创建Mat，用来放彩色图像数据
	while (1)
	{
		result = reader->AcquireLatestFrame(&frame);//获取最新的彩色帧
		if (FAILED(result) || !frame)//检测是否成功获取帧数据，并不是每一次都能成功获取的
		{
			cout << "Lose data" << endl;
			continue;
		}
		else
		{
			cout << "Got it" << endl;
			frame->CopyConvertedFrameDataToArray(height * width * 4 * sizeof(BYTE), reinterpret_cast<BYTE*>(colorImage.data), ColorImageFormat_Bgra);//图像数据流转换
			frame->Release();//每一次获取帧后都要释放
			imshow("Color", colorImage);//绘制图像
		}
		if (waitKey(40) > 0)//按任意键退出程序
			break;
	}
	reader->Release();//释放指针
	source->Release();
	sensor->Close();//sensor记得要先Close再释放
	sensor->Release();
	return 0;
}

三、重要函数

public:
HRESULT CopyConvertedFrameDataToArray(
         UINT capacity,
         BYTE *frameData,
         ColorImageFormat colorFormat

)

功能：将Kinect的彩色帧数据以指定格式复制到byte array 矩阵中

        When this method returns, contains the size of the frame data buffer in bytes.

    图像帧的大小，单位BYTE

        [out] The array to which to copy the converted color frame data.

    存放图像帧数据的矩阵的指针，矩阵类型：BYTE，这里用了reinterpret_cast<BYTE*>做强制类型转换

        The image format to which to convert the color frame data.

        指定图像数据在矩阵中的存放格式，有以下几种：

        enum _ColorImageFormat
    {
        ColorImageFormat_None = 0,
        ColorImageFormat_Rgba = 1,
        ColorImageFormat_Yuv = 2,
        ColorImageFormat_Bgra = 3,
        ColorImageFormat_Bayer = 4,
        ColorImageFormat_Yuy2 = 5
    } ;

        Returns S_OK if successful; otherwise, returns a failure code.

        返回函数执行结果，成功，返回S_OK,否则转换失败